TW201922560A - Human-powered vehicle control device - Google Patents

Abstract

A human-powered vehicle control device is configured to reduce electric power needed to drive a motor. The human-powered vehicle control device includes an electronic controller and a memory. The electronic controller is configured to control a motor that assists in propulsion of a human-powered vehicle in accordance with human driving force and a memory. The electronic controller drives the motor in a case where the human driving force is greater than or equal to a first value. The memory electronic changeably store the first value.

Description

   Control device for human-driven vehicle   

The invention relates to a control device for a human-powered vehicle.

Conventionally, there is known a control device for a human-driven vehicle that controls a motor that assists the propulsion of the human-driven vehicle. In the past, a control device for a human-powered driving vehicle automatically controlled the motor when the remaining battery capacity of the human-powered driving vehicle was lower than a specified value, so that the motor output was smaller than the human driving force. Patent Document 1 discloses an example of a conventional control device for a manually driven vehicle.

[Prior technical literature]

[Patent Literature]

[Patent Document 1] Japanese Unexamined Patent Publication No. 9-272486

It is desirable to suppress the power required to drive the motor.

An object of the present invention is to provide a control device for a manually driven vehicle that can control the electric power required when driving a motor.

The first control device for a human-powered vehicle according to the present invention includes: a control unit that controls a motor that assists the human-powered vehicle to propel according to the human-power driving force; and a memory unit; the control unit is configured to control the human-power driving force when the human-power driving force exceeds a first value; The motor is driven, and the memory section variably memorizes the first value.

According to the first type described above, since the first value can be changed, when the first value is set to a value larger than in the past, the power required to drive the motor can be suppressed. In addition, the motor can be controlled by the human driving force of the passenger who drives the vehicle with the human power.

The second control device for a human-powered vehicle according to the present invention includes a control unit that controls a motor that assists a human-powered vehicle to propel according to the human-power driving force. The control unit includes a plurality of control modes and is selected by operating the operating unit. The foregoing control mode is configured to control the motor. The plurality of control modes include a first control mode for driving the motor when the driving force of the human power is greater than a first value; and a second control mode for when the human power is driven. When the driving force is greater than a second value different from the first value, the motor is driven.

According to the second method described above, when the motor is controlled according to one of the first control mode and the second control mode, the power required to drive the motor can be suppressed compared to when the motor is controlled according to the other of the first control mode and the second control mode. In addition, since the control mode can be selected by operating the operation section, the control mode can be executed according to a request of a passenger who drives the vehicle with a human power.

A third type of control device for a human-powered vehicle as described above, wherein the first value is greater than the second value.

According to the third aspect, when the motor is controlled according to the first control mode, the power required to drive the motor can be suppressed compared to when the motor is controlled according to the second control mode.

The fourth control device for a human-driven vehicle as described in the second or third type further includes a memory section, and the memory section variably stores the first value.

According to the fourth type, since the first value can be changed in the first control mode, when the first value is set to a value larger than in the past, the power required to drive the motor can be suppressed. In addition, in the first control mode, the motor can be controlled according to the requirements of a passenger who drives the vehicle with a human power.

A fifth control device is the first or fourth human-powered vehicle control device, wherein the memory unit is configured to change the first value according to an input signal of the control unit from an external device.

According to the fifth type, the first value can be appropriately changed using an external device.

The sixth type is the control device for a human-driven vehicle as described in the fifth type above, wherein the external device can input numerical information, and the memory section stores the numerical information input by the external device as the first value.

According to the sixth type, the amount of data stored in the memory can be suppressed by inputting numerical information using an external device.

The seventh control device for a human-driven vehicle as described in the foregoing fifth, wherein the memory section stores a plurality of numerical information, the external device can select one of the plurality of numerical information, and the memory section stores the memory through the external device. The selected numerical information is used as the aforementioned first value.

According to the seventh type, even when numerical information cannot be input, the first value can be appropriately changed by an external device.

The eighth type is the control device for a human-powered vehicle according to any one of the first to seventh types, wherein the first value is 50W.

According to the eighth type, the electric power required to drive the motor can be suppressed.

A ninth control device for a human-powered vehicle according to any one of the first to eighth types, wherein the human-power driving force is a power calculated based on a rotational torque applied to the crank and a rotational speed of the crank.

According to the ninth aspect described above, the motor can be appropriately controlled because an appropriate value is used as the driving force of the human reference that is used to drive the motor.

A tenth type is the control device for a human-powered vehicle according to any one of the first to seventh types, wherein the first value is 10 Nm.

According to the tenth aspect, the electric power required for driving the motor can be suppressed.

The eleventh is any one of the aforementioned first to seventh or the tenth human-driven vehicle control device, wherein the human driving force is a rotational torque imparted to the crank.

According to the eleventh aspect, the motor can be appropriately controlled because an appropriate value is used as the driving force of the human reference that is used to drive the motor.

The twelfth control device for a human-powered vehicle of the present invention includes: a control unit that controls a motor that assists the human-powered vehicle to propel according to the human-power driving force; and a memory unit; the control unit uses the output of the motor to be less than the third The value is driven by the motor, and the storage unit memorably stores the third value.

According to the twelfth type, since the third value can be changed, setting the third value to a value smaller than in the past can suppress the power required to drive the motor. In addition, the motor can be controlled by the human driving force of the passenger who drives the vehicle with the human power.

A thirteenth control device for a human-powered vehicle according to the twelfth type, wherein the output of the motor is power or rotational torque.

According to the thirteenth aspect, the motor can be appropriately controlled because the appropriate value is used as the output of the motor referenced for driving the motor.

The fourteenth is the control device for a twelfth or thirteenth human-driven vehicle, wherein the memory unit is configured to change the third value in accordance with an input signal of the control unit from an external device.

According to the fourteenth, the third value can be appropriately changed using an external device.

The fifteenth type is the control device for a fourteenth human-powered vehicle, wherein the external device can input numerical information, and the memory unit stores the numerical information input through the external device as the third value.

According to the above fifteenth type, the amount of data stored in the memory can be suppressed by inputting numerical information using an external device.

The sixteenth type is the control device for a fourteenth human-driven vehicle, wherein the memory section stores a plurality of numerical information, the external device can select one of the plurality of numerical information, and the memory section stores a memory by The numerical information selected by the external device is used as the third value.

According to the above-mentioned sixteenth type, even when numerical information cannot be input, the third value can be appropriately changed by an external device.

A seventeenth control device for a human-powered vehicle of the present invention includes a control unit that controls a motor that assists the human-powered driving of the vehicle in accordance with the human-power driving force. The control unit drives the motor when the human-power driving force exceeds 50 W or 10 Nm.

According to the above-mentioned seventeenth type, the power required for driving the motor can be suppressed.

When the human-driven vehicle control device of the present invention is used, the power required to drive the motor can be suppressed.

10‧‧‧ Human-powered vehicles

12‧‧‧frame

14‧‧‧ crank

16‧‧‧ crank shaft

18‧‧‧ crank arm

20‧‧‧ pedal

22‧‧‧Drive Wheel

22A‧‧‧Front wheel

22B‧‧‧Rear

24‧‧‧Drive mechanism

26‧‧‧The first rotating body

26A‧‧‧Front Sprocket

28‧‧‧ connecting member

28A‧‧‧chain

30‧‧‧Second rotating body

30A‧‧‧Rear sprocket

32‧‧‧Drive unit

32A‧‧‧Motor

32B‧‧‧Shell

34‧‧‧Operation Department

36‧‧‧Handle

38‧‧‧Detection device

38A‧‧‧First Inspection Department

38B‧‧‧Second Detection Department

40‧‧‧Control device for manual drive vehicle

42‧‧‧Control Department

44‧‧‧Memory Department

46‧‧‧Face

48‧‧‧ display device

50‧‧‧ external device

BT‧‧‧ Battery

HP‧‧‧ Human Power

VR1‧‧‧The first human driving force

VR2‧‧‧Second Human Driving Force

VR3‧‧‧ third human driving force

VR4‧‧‧The fourth human driving force

V1‧‧‧ first value

V2‧‧‧Second Value

V3‧‧‧ third value

V4‧‧‧ fourth value

V5‧‧‧ fifth value

V6‧‧‧ sixth value

MA1‧‧‧First Control Mode

MA2‧‧‧Second Control Mode

MA3‧‧‧Third Control Mode

RT‧‧‧rotating torque

RS‧‧‧ rotation speed

WR‧‧‧Power

MO‧‧‧Motor output

The first figure is a side view of a human-driven vehicle including the control device for a human-driven vehicle of the first embodiment.

The second diagram is a block diagram showing the electrical connection relationship of the human-driven vehicle of the first diagram.

The third graph is a graph showing an example of the relationship between the human driving force and the output of the motor.

The fourth diagram is a graph showing the relationship between the human driving force and the motor output in the second embodiment.

The fifth graph is a graph showing the relationship between the human driving force and the motor output in the third embodiment.

The sixth diagram is a graph showing the relationship between the human driving force and the motor output in the fourth embodiment.

(First embodiment)

The human-powered vehicle 10 including the human-powered vehicle control device 40 will be described with reference to the first figure. The human-driven vehicle control device 40 is provided in the human-driven vehicle 10. The human-driven vehicle 10 is a vehicle that can be driven by at least a human driving force. The human-powered vehicle 10 includes, for example, a bicycle. The human-powered vehicle 10 is not limited to the number of wheels, and includes, for example, vehicles having one or more wheels. Examples of bicycles include: mountain bikes, road bikes, city bikes, cargo bikes, and reclining bikes. In the following embodiments, a human-powered vehicle 10 is described as a bicycle.

The human-powered vehicle 10 includes a frame 12, a crank 14, and drive wheels 22. A human driving force HP is input to the crank 14. The crank 14 includes: a crank shaft 16 rotatably supported by the frame 12; and crank arms 18 respectively provided at both ends of the crank shaft 16. Each of the crank arms 18 is connected to the pedal 20. The driving wheel 22 is supported by the vehicle frame 12. The crank 14 and the driving wheel 22 are connected by a driving mechanism 24. The human-powered vehicle 10 further includes a front wheel 22A and a rear wheel 22B. In the following embodiments, the rear wheel 22B will be described as the driving wheel 22, but the front wheel 22A may be the driving wheel 22.

The driving mechanism 24 includes a first rotating body 26 connected to the crank shaft 16. The crank shaft 16 and the first rotating body 26 may be coupled via a first one-way clutch (not shown). The first one-way clutch is configured so that the first rotating body 26 is not rotated forward when the crank 14 is rotated forward, and the first rotating body 26 is not rotated backward when the crank 14 is rotated backward. The first rotating body 26 includes a front sprocket 26A, a pulley, or a helical gear. The driving mechanism 24 further includes a connecting member 28 and a second rotating body 30. The connecting member 28 transmits the rotational force of the first rotating body 26 to the second rotating body 30. The connection member 28 includes, for example, a chain 28A, a belt, or a shaft.

The second rotating body 30 is connected to the rear wheel 22B. The second rotating body 30 includes a rear sprocket 30A, a pulley, or a helical gear. A second one-way clutch (not shown) is preferably provided between the second rotating body 30 and the rear wheel 22B. The second one-way clutch is configured so that the rear wheel 22B is not rotated forward when the second rotating body 30 is rotated forward, and the rear wheel 22B is not rotated backward when the second rotating body 30 is rotated backward.

The human-powered vehicle 10 further includes a drive unit 32. The driving unit 32 is operated to assist the manual driving of the vehicle 10 by the propulsion. The driving unit 32 operates, for example, by a human driving force HP applied to the crank 14. The drive unit 32 includes a motor 32A. The motor 32A includes an electric motor. The driving unit 32 is driven by electric power supplied from a battery BT mounted on the human-driven vehicle 10.

The battery BT includes one or a plurality of battery compartments (not shown). The battery compartment includes a rechargeable battery. The battery BT supplies power to other motor parts electrically connected to the battery BT, such as the motor 32A and the human-driven vehicle control device 40. The battery BT may also be installed outside the frame 12, or at least a part of it may be housed inside the frame 12.

As shown in the second figure, the control device 40 for a human-driven vehicle includes a control unit 42 and a memory unit 44. The control unit 42 controls a motor 32A that assists a human to drive the propulsion of the vehicle 10 in accordance with the human driving force HP. The control unit 42 includes an arithmetic processing device that executes a predetermined control program. The arithmetic processing device includes, for example, a CPU (Central Processing Unit) or MPU (Micro Processing Unit) control unit 42, and may include one or a plurality of microcomputers. The memory unit 44 stores information used for various control programs and various arithmetic processes. The memory unit 44 includes, for example, a non-volatile memory and a volatile memory. An example is a housing 32B (refer to the first figure) of the control unit 40 for a human-powered vehicle, which is provided in the drive unit 32 accommodating the motor 32A.

The control unit 42 drives the motor 32A when the human driving force HP exceeds the first value V1. The control unit 42 includes a plurality of control modes, and is configured to control the motor 32A in accordance with a control mode selected by the operation of the operation unit 34. The operation unit 34 is provided, for example, on a handle 36 of a human-driven vehicle 10 (see the first figure). The operation section 34 can communicate with the control section 42. The operation unit 34 and the control unit 42 are communicably connected by wire or wirelessly. The operation unit 34 can communicate with the control unit 42 by, for example, a PLC (Power Line Communication). By operating the operation section 34, the operation section 34 transmits an output signal to the control section 42. The operation unit 34 is configured by a push button switch, a lever switch, a touch panel, or the like. The human-powered vehicle 10 preferably includes a display device 48. The display device 48 is provided, for example, on a handle 36 of a human-driven vehicle 10. The display device 48 is configured to display information on a control mode selected by the operation of the operation unit 34.

The plurality of control modes include: a first control mode MA1 that drives the motor 32A when the human driving force HP exceeds a first value V1; and a second control mode MA1 that drives the motor 32A when the human driving force HP exceeds a second value V2 that is different from the first value V1 Control mode MA2. The first value V1 is larger than the second value V2. Information on the first control mode MA1 and the second control mode MA2 is stored in the memory unit 44. The control unit 42 drives the motor 32A in accordance with any one of the following first to third examples. The control unit 42 of this embodiment drives the motor 32A according to the first example.

The human driving force HP of the first example is the power WR calculated based on the rotational torque RT given to the crank 14 and the rotational speed RS of the crank 14. The power WR is the product of the rotational torque RT and the rotational speed RS. The first value V1 should preferably be within a range of 30 W or more and 200 W or less. The first value V1 is more preferably included in a range of 50W or more and 200W or less. An example is a first value V1 of 50W. The first value V1 is more preferably included in a range of 100 W or more and 200 W or less. The second value V2 should be included in a range of 1 W or more and 30 W or less. An example is that the second value V2 is 1W. According to the first example, the control unit 42 drives the motor 32A when the human driving force HP exceeds 50W in the first control mode MA1, and drives the motor 32A when the human driving force HP exceeds 1W in the second control mode MA2.

The human driving force HP of the second example is the rotational torque RT imparted to the crank 14. The first value V1 is preferably included in a range of 10 Nm or more and 50 Nm or less. The first value V1 is more preferably included in a range of 10 Nm or more and 50 Nm or less. An example is a first value V1 of 10 Nm. The first value V1 is more preferably included in a range of 20 Nm or more and 50 Nm or less. The second value V2 is preferably included in a range of 1 Nm or more and 5 Nm or less. An example is the second value V2 of 3Nm. According to the second example, the control unit 42 drives the motor 32A when the human driving force HP exceeds 10 Nm in the first control mode MA1, and drives the motor 32A when the human driving force HP exceeds 3 Nm in the second control mode MA2.

The human driving force HP of the third example is power WR and rotational torque RT. The first value V1 is substantially the same as the first value V1 referred to in the first and second examples. The second value V2 is substantially the same as the second value V2 referred to in the first and second examples. The control unit 42 drives the motor 32A when the human driving force HP exceeds 50 W or 10 Nm in the first control mode MA1, and drives the motor 32A when the human driving force HP exceeds 1 W or 3 Nm in the second control mode MA2. The control unit 42 may also drive the motor 32A when the human driving force HP exceeds 50W and exceeds 10Nm in the first control mode MA1, and in the second control mode MA2, the motor 32A is driven when the human driving force HP exceeds 1W and exceeds 3Nm .

The storage unit 44 memorably stores the first value V1. The memory unit 44 is configured to change the first value V1 according to an input signal from the external device 50 to the control unit 42. The external device 50 can input numerical information. The storage unit 44 stores numerical value information input through the external device 50 as the first value V1. For example, the external device 50 and the control unit 42 are set in a mode for changing the first value V1. When numerical information is input into the external device 50, the storage unit 44 stores the input numerical information as the first value V1.

The external device 50 includes mobile information devices such as a personal computer, a tablet computer, a bicycle-mounted computer, and a smartphone. The control device 40 for a human-driven vehicle includes an interface portion 46. The interface section 46 includes at least one of a wired communication section for connecting a cable connected to the external device 50 and a wireless communication section for wirelessly communicating with the external device 50. The control section 42 is electrically connected to the interface section 46 and changes the information stored in the storage section 44 according to an input signal received from the external device 50 via the interface section 46. By changing the information stored in the memory unit 44, even when the control mode executed by the control unit 42 is the same, the output characteristic of the motor 32A to the human driving force HP can be changed.

The control unit 42 drives the motor 32A so that the output of the motor 32A is lower than the third value V3. Hereinafter, the output of the motor 32A will be described as a motor output MO. An example is that the control unit 42 drives the motor 32A in the first control mode MA1 such that the motor output MO is lower than the third value V3, and in the second control mode MA2, the motor output MO is lower than the fourth value V4 Mode drive motor 32A. The third value V3 and the fourth value V4 define the upper limit value of the motor output MO in each control mode MA1, MA2. The third value V3 and the fourth value V4 are larger than the first value V1 and the second value V2. The motor outputs MO-based power WR or rotational torque RT. The control unit 42 drives the motor 32A in accordance with any of the following fourth to sixth examples. The control unit 42 of this embodiment drives the motor 32A according to the fourth example.

The fourth example of the motor output MO is the power WR. The third value V3 should be included in the range of 100W or more and 500W or less. An example is the third value V3 250W. The fourth value V4 should be included in the range of 100W or more and 500W or less. An example is the fourth value V4 series 250S. According to the first example, the control unit 42 drives the motor 32A such that the motor output MO is less than 250W in the first control mode MA1, and drives the motor output MO that is less than 250W in the second control mode MA2. Motor 32A.

The motor output MO of the fifth example is a rotational torque RT. The third value V3 is preferably included in a range of 30 Nm or more and 100 Nm or less. An example is the third value V3 of 70 Nm. The fourth value V4 is preferably included in a range of 30 Nm or more and 100 Nm or less. An example is a fourth value V4 series of 70 Nm. According to the second example, the control unit 42 drives the motor 32A such that the motor output MO is lower than 70 Nm in the first control mode MA1, and drives the motor 32 MO so that the motor output MO is lower than 70 Nm in the second control mode MA2. Motor 32A.

In the sixth example, the motor output MO is the power WR and the rotational torque RT. The third value V3 is substantially the same as the third value V3 referred to in the first and second examples. The fourth value V4 is substantially the same as the fourth value V4 referred to in the first and second examples. According to the third example, the control unit 42 drives the motor 32A such that the motor output MO is lower than 250 W or 70 Nm in the first control mode MA1, and the motor output MO is used in the second control mode MA2. The motor 32A is driven below 250W or below 70Nm. The control unit 42 may also drive the motor 32A such that the motor output MO is lower than 250W and lower than 70Nm in the first control mode MA1, and the motor output MO is lower than 250W and lower than the motor output MO in the second control mode MA2. 70Nm way to drive the motor 32A.

The storage unit 44 memorably stores the third value V3. The memory unit 44 is configured to change the third value V3 according to an input signal from the external device 50 to the control unit 42. The external device 50 can input numerical information. The storage unit 44 stores numerical value information input through the external device 50 as the third value V3. As an example, the external device 50 and the control unit 42 are set to a mode in which the third value V3 is changed. When numerical information is input to the external device 50, the storage unit 44 stores the input numerical information as the third value V3.

The human-powered vehicle 10 further includes a detection device 38. The detection device 38 detects the human driving force HP. The detection device 38 outputs a signal in accordance with the human driving force HP. The detection device 38 includes a first detection section 38A that detects a rotational torque RT imparted to the crank 14, and a second detection section 38B that detects a rotational speed RS of the crank 14. The first detection unit 38A includes, for example, a torque sensor (not shown) that detects a rotational torque RT acting on the crank shaft 16. The first detection unit 38A is provided on a transmission path of the human driving force HP from the pedal 20 to the driving wheels 22. The first detection portion 38A is preferably provided on a transmission path of the human driving force HP from the pedal 20 to the first rotating body 26. An example is that the first detection unit 38A is provided on the pedal 20, the crank arm 18, the crank shaft 16, the first rotating body 26, or the connecting member of the crank shaft 16 and the first rotating body 26.

The torque sensor can be implemented using, for example, a distortion sensor, an optical sensor, a pressure sensor, and the like. The distortion sensor includes at least one of a strain gauge, a magnetostrictive sensor, and a pressure sensor. Any sensor that outputs a signal in accordance with the rotational torque RT around the crank shaft 16 can be adopted as the torque sensor. In the present embodiment, a torque sensor is provided on or around the connecting member connecting the crank shaft 16 and the first rotating body 26. When the torque sensor rotates with the crank 14, the detection device 38 includes a wireless communication unit (not shown). The wireless communication unit wirelessly transmits a signal detected by the torque sensor to the control unit 42. The first detection portion 38A may be provided on the hub of the frame 12, the connecting member 28, the second rotating body 30, or the driving wheel 22, for example.

The second detection unit 38B includes a magnetic sensor (not shown) that outputs a signal according to the strength of the magnetic field. The magnetic sensor is provided on the frame 12 or the housing 32B of the driving unit 32. A ring-shaped magnet whose magnetic field strength changes in the circumferential direction is provided on the crank shaft 16, a member rotated by the rotation of the crank shaft 16, or a human driving force HP on the transmission path from the crank shaft 16 to the first rotating body 26 and the crank shaft 16 integrated rotating members. The second detection unit 38B can detect the rotation speed RS of the crank 14 by using a magnetic sensor that outputs a signal according to the strength of the magnetic field.

The control unit 42 obtains a signal indicating the rotational torque RT from the first detection unit 38A, and obtains a signal indicating the rotational speed RS from the second detection unit 38B. The control unit 42 calculates the power WR based on the signal indicating the obtained rotational torque RT and the signal indicating the rotational speed RS.

An example of the first control mode MA1 and the second control mode MA2 will be described with reference to the third figure. The solid line shown in the third figure shows the relationship between the human driving force HP and the motor output MO in the first control mode MA1. The two-dot chain line shown in the third figure shows the relationship between the human driving force HP and the motor output MO in the second control mode MA2.

When the control unit 42 selects the first control mode MA1 by operating the operation unit 34, the control unit 42 controls the motor 32A in the first control mode MA1. In the first control mode MA1, the control unit 42 starts driving the motor 32A when the human driving force HP exceeds the first value V1, and drives the motor so that the motor output MO increases proportionally as the human driving force HP increases. 32A. In the first control mode MA1, for example, the control unit 42 controls the motor output MO to the human driving force HP to become the first ratio before reaching the first human driving force VR1 whose human driving force HP is larger than the first value V1. Motor 32A.

In the first control mode MA1, for example, the control unit 42 drives the motor 32A so that the motor output MO becomes the third value V3 when the human driving force HP reaches the first human driving force VR1. When the human power driving force HP exceeds the first human power driving force VR1 in the first control mode MA1, the control unit 42 controls the motor 32A so that the motor output MO maintains the third value V3. In this way, the control unit 42 controls the motor 32A in accordance with the human driving force HP when the human driving force HP exceeds the first value V1 in the first control mode MA1.

In the first control mode MA1, the control unit 42 stops driving the motor 32A when the human power HP is changed from exceeding the first value V1 to less than the first value V1. When the human-driven vehicle control device 40 controls the motor 32A in the first control mode MA1, the power required to drive the motor 32A can be suppressed. The control unit 42 may be configured in the first control mode MA1 to stop driving the motor 32A when the human power HP is changed from exceeding the first value V1 to a predetermined value Vt smaller than the first value V1. Thus, it is possible to suppress frequent driving and stopping of the motor 32A repeatedly when the human driving force HP is near the first value V1. The predetermined value Vt is preferably a value in a range of 1 W or more and 5 W or less, or a value in a range of 1 Nm or more and 5 Nm or less.

When the control unit 42 selects the second control mode MA2 by operating the operation unit 34, the control unit 42 controls the motor 32A in the second control mode MA2. In the second control mode MA2, the control unit 42 starts driving the motor 32A, for example, when the human driving force HP exceeds the second value V2, and drives the motor so that the motor output MO increases proportionally as the human driving force HP increases. 32A. In the second control mode MA2, for example, the control unit 42 controls the motor so that the motor output MO becomes the second ratio of the human driving force HP to the second human driving force VR2, which is greater than the second value V2. 32A. The second ratio is smaller than the first ratio.

In the second control mode MA2, the control unit 42 drives the motor 32A such that the motor output MO becomes the fourth value V4 when the human driving force HP reaches a second human driving force VR2 that is greater than the first human driving force VR1. . In this embodiment, the fourth value V4 is larger than the third value V3. When the human power driving force HP exceeds the second human power driving force VR2 in the second control mode MA2, the control unit 42 controls the motor 32A so that the motor output MO maintains the fourth value V4. In this way, the control unit 42 controls the motor 32A in accordance with the human driving force HP when the human driving force HP exceeds the second value V2 in the second control mode MA2. In the second control mode MA2, the control unit 42 stops driving the motor 32A when the human power HP is changed from exceeding the second value V2 to less than the second value V2. The control unit 42 may be configured in the second control mode MA2 to stop driving the motor 32A when the human power HP is changed from exceeding the second value V2 to a predetermined value Vt smaller than the second value V2.

(Second embodiment)

An example of the control modes MA1 and MA2 executed by the human-driven vehicle control device 40 according to the second embodiment will be described with reference to the fourth figure. The control device 40 for a human-driven vehicle according to the second embodiment is the same as the control device 40 for a human-driven vehicle except for the control content of the second control mode MA2, so it is the same as the first implementation. For the common structure of the forms, the same symbols as those in the first embodiment are noted, and repeated descriptions are omitted. The solid line shown in the fourth figure shows the relationship between the human driving force HP and the motor output MO in the first control mode MA1. The two-dot chain line shown in the fourth figure shows the relationship between the human driving force HP and the motor output MO in the second control mode MA2.

When the control unit 42 selects the second control mode MA2 by operating the operation unit 34, the motor 32A is controlled in the second control mode MA2. In the second control mode MA2, the control unit 42 starts driving the motor 32A, for example, when the human driving force HP exceeds the second value V2, and drives the motor so that the motor output MO increases proportionally as the human driving force HP increases. 32A. In the second control mode MA2, the control unit 42 controls, for example, when the human driving force HP reaches a second human driving force VR2 that is greater than the second value V2, and the motor output MO controls the human driving force HP to become the first ratio. Motor 32A.

The control unit 42 drives the motor 32A so that the motor output MO is lower than the third value V3 in the second control mode MA2. In the second control mode MA2, for example, the control unit 42 drives the motor 32A so that the motor output MO becomes the third value V3 when the human driving force HP reaches the first human driving force VR1. When the human power driving force HP exceeds the first human power driving force VR1 in the second control mode MA2, the control unit 42 controls the motor 32A so that the motor output MO maintains the third value V3. When the human-driven vehicle control device 40 controls the motor 32A in the second control mode MA2, the motor 32A is driven so that the motor output MO becomes lower than the third value V3, so that the power required to drive the motor 32A can be suppressed.

(Third embodiment)

An example of each of the control modes MA1 and MA2 executed by the human-driven vehicle control device 40 according to the third embodiment will be described with reference to the fifth figure. The control device 40 for a human-driven vehicle of the third embodiment is the same as the control device 40 for a human-driven vehicle of the first embodiment, except for the control content of the second control mode MA2. For the common structure of the forms, the same symbols as those in the first embodiment are noted, and repeated descriptions are omitted. The solid line shown in the fifth figure shows the relationship between the human driving force HP and the motor output MO in the first control mode MA1. The two-dot chain line shown in the fifth figure shows the relationship between the human driving force HP and the motor output MO in the second control mode MA2.

When the control unit 42 selects the second control mode MA2 by operating the operation unit 34, the control unit 42 controls the motor 32A in the second control mode MA2. The control unit 42 drives the motor 32A when the human driving force HP exceeds the first value V1 in the second control mode MA2. In the second control mode MA2, for example, the control unit 42 starts driving the motor 32A when the human driving force HP exceeds the first value V1, and drives the motor so that the motor output MO increases proportionally as the human driving force HP increases. 32A. In the second control mode MA2, for example, before the human driving force HP reaches a third human driving force VR3 that is larger than the second value V2, the control unit 42 outputs MO as a motor to make the human driving force HP a first ratio. Control motor 32A.

In the second control mode MA2, for example, the control unit 42 controls the motor so that the motor output MO becomes the fourth value V4 when the human driving force HP reaches a third human driving force VR3 that is greater than the first human driving force VR1. 32A. When the human driving force HP exceeds the third human driving force VR3 in the second control mode MA2, the control unit 42 controls the motor 32A so that the motor output MO maintains the fourth value V4. Therefore, in the second control mode MA2, when the human driving force HP exceeds the first value V1, the control unit 42 controls the motor 32A in accordance with the human driving force HP. When the human power driving force HP is lower than the first value V1 in the second control mode MA2, the control unit 42 stops driving the motor 32A. The control unit 42 may be configured in the second control mode MA2 to stop driving the motor 32A when the human driving force HP changes from exceeding the first value V1 to a predetermined value Vt smaller than the first value V1. When the human-driven vehicle control device 40 controls the motor 32A in the second control mode MA2, the motor 32A starts to be driven when the human-power driving force HP exceeds the first value V1, so that the power required to drive the motor 32A can be suppressed.

(Fourth embodiment)

An example of the control modes MA1 and MA2 executed by the human-driven vehicle control device 40 according to the fourth embodiment will be described with reference to the sixth figure. The control device 40 for a human-powered vehicle according to the fourth embodiment is the same as the control device 40 for a human-powered vehicle except for the control content of the first control mode MA1, so it is the same as the first implementation. For the common structure of the forms, the same symbols as those in the first embodiment are noted, and repeated descriptions are omitted. The solid line shown in the sixth figure shows the relationship between the human driving force HP and the motor output MO in the first control mode MA1. The two-dot chain line shown in the sixth figure shows the relationship between the human driving force HP and the motor output MO in the second control mode MA2.

When the control unit 42 selects the first control mode MA1 by operating the operation unit 34, the motor 32A is controlled in the first control mode MA1. In the first control mode MA1, the control unit 42 starts driving the motor 32A when the human driving force HP exceeds the first value V1, and drives the motor so that the motor output MO increases proportionally as the human driving force HP increases. 32A. In the first control mode MA1, the control unit 42 controls the motor output MO to the second ratio of the human driving force HP before the human driving force HP reaches a fourth human driving force VR4 larger than the first value V1. Motor 32A.

In the first control mode MA1, the control unit 42 drives the motor 32A such that the motor output MO becomes the third value V3 when the human driving force HP reaches a fourth human driving force VR4 that is greater than the first human driving force VR1. . When the human power driving force HP exceeds the fourth human power driving force VR4 in the first control mode MA1, the control unit 42 controls the motor 32A so that the motor output MO maintains the third value V3. When the human-driven vehicle control device 40 controls the motor 32A in the first control mode MA1, the power required to drive the motor 32A can be suppressed.

(Modification)

The description of the various embodiments described above exemplifies a form that can be adopted by the control device for a human-powered vehicle according to the present invention, and is not a limitation on the form. The control device for a human-driven vehicle according to the present invention may adopt, for example, the following modified examples of the various embodiments described above, and at least two modified examples in which the combinations do not contradict each other. In the following modifications, the same reference numerals are given to the parts common to the forms of the various embodiments, and descriptions thereof are omitted.

‧ In various embodiments and modifications thereof, the memory unit 44 stores a plurality of numerical information. The external device 50 can select one of a plurality of numerical information. The storage unit 44 stores numerical value information selected by the external device 50 as the first value V1. For example, the external device 50 and the control unit 42 are set in a mode for changing the first value V1. When one piece of numerical information is selected by the external device 50, the storage unit 44 stores the selected numerical information as the first value V1.

‧ In various embodiments and modifications thereof, the memory unit 44 stores a plurality of numerical information. The external device 50 can select one of a plurality of numerical information. The storage unit 44 stores numerical value information selected by the external device 50 as the third value V3. As an example, the external device 50 and the control unit 42 are set in a mode for changing the third value V3. When one piece of numerical information is selected by the external device 50, the storage unit 44 stores the selected numerical information as the third value V3.

• In various embodiments and modifications thereof, the memory unit 44 may memorize the second value V2. At this time, the memory unit 44 is configured to change the second value V2 according to an input signal from the external device 50 to the control unit 42. The storage unit 44 stores numerical value information input through the external device 50 as the second value V2. As an example, the external device 50 and the control unit 42 are set in a mode for changing the second value V2. When numerical information is input to the external device 50, the numerical value information input by the memory unit 44 is used as the second value V2. In this example, the storage unit 44 may also store a plurality of numerical information, and the external device 50 may select one of the plurality of numerical information.

‧ In various embodiments and modifications thereof, the memory unit 44 may also memorize the fourth value V4. At this time, the memory unit 44 is configured to change the fourth value V4 according to an input signal from the external device 50 to the control unit 42. The storage unit 44 stores numerical value information input through the external device 50 as the fourth value V4. As an example, the external device 50 and the control unit 42 are set in a mode for changing the fourth value V4. When numerical information is input into the external device 50, the numerical value information input by the memory unit 44 is used as the fourth value V4. In this example, the storage unit 44 may also store a plurality of numerical information, and the external device 50 may select one of the plurality of numerical information.

‧ In various embodiments and modifications thereof, the memory unit 44 may memorize only at least one of the first value V1, the second value V2, the third value V3, and the fourth value V4.

‧ In various embodiments and modifications thereof, the memory unit 44 may be configured to change at least one of the first value V1 and the third value V3 in accordance with an input signal from the operation unit 34 to the control unit 42. At this time, since the external device 50 is not required, the mesial portion 46 may be omitted.

‧ In various embodiments and modifications thereof, the first value V1 may be a value smaller than the second value V2.

‧ In various embodiments and modifications thereof, the third value V3 may be a value larger than the fourth value V4.

‧ In various embodiments and modifications thereof, the control unit 42 may also start driving the motor 32A when the human driving force HP exceeds the first value V1 in the first control mode MA1, and increases with the human driving force HP. The motor output MO drives the motor 32A in a proportionally convex or concave curve shape. In addition, in various embodiments and modifications thereof, the control unit 42 may also start to drive the motor 32A when the human driving force HP exceeds the second value V2 in the second control mode MA2, and increase the driving force HP with the human driving force HP. The motor 32A is driven in such a manner that the motor output MO increases in proportion to a large convex curve shape or a concave curve shape.

‧ In various embodiments and modifications thereof, one of the first control mode MA1 and the second control mode MA2 may be omitted. In this case, the operation unit 34 may be omitted from the human-powered vehicle 10.

‧ In various embodiments and modifications thereof, the plurality of control modes may include a third control mode MA3 in addition to the first control mode MA1 and the second control mode MA2. In the third control mode MA3, the control unit 42 drives the motor 32A when the human driving force HP exceeds the fifth value V5, and drives the motor 32A such that the motor output MO is lower than the sixth value V6. The fifth value V5 is a value in the same range as the range of the first value V1 or the range of the second value V2. The sixth value V6 is a value in the same range as the range of the third value V3 or the range of the fourth value V4. In the third control mode MA3, the control unit 42 controls the motor 32A such that the motor output MO becomes the third ratio of the human driving force HP to the human power HP before the motor output MO reaches the sixth value V6. The third ratio may be equal to the first ratio or the second ratio, and may be different from the first ratio and the second ratio. The memory unit 44 memorably stores at least one of the fifth value V5 and the sixth value V6. The method of changing the fifth value V5 and the sixth value V6 is the same as the method of changing the first value V1.

‧ In various embodiments and modifications, the control unit 42 drives the motor 32A according to the first and fourth examples. However, in addition to the combination of the first and fourth examples, the first and second examples may also be used. Any one of the third and fourth examples, and any one of the fourth, fifth, and sixth examples drive the motor 32A.

Claims (17)

    A control device for a human-powered vehicle, comprising: a control section that controls a motor that assists human-powered driving of the vehicle in accordance with the human-power driving force; and a memory section; the control section drives the foregoing when the human-power driving force exceeds a first value In the motor, the storage unit variably stores the first value.         A control device for a human-powered vehicle includes a control unit that controls a motor that assists the human-powered driving of the vehicle in accordance with the human-power driving force. The control mode is configured to control the motor. The plurality of control modes include: a first control mode for driving the motor when the human driving force is greater than a first value; and a second control mode for when the human driving When the force is greater than a second value different from the first value, the motor is driven.         For example, the control device for a human-powered vehicle according to item 2 of the patent application, wherein the aforementioned first value is larger than the aforementioned second value.         For example, the control device for a human-driven vehicle for which the scope of the patent application is item 2 or 3 further includes a memory section, and the memory section variably stores the first value.         For example, the control device for a human-powered vehicle for a patent application item 1 or 4, wherein the aforementioned memory section is configured to change the first value according to an input signal of the aforementioned control section from an external device.         For example, the control device for a human-powered vehicle of the scope of application for a patent, wherein the external device can input numerical information, and the memory section stores the numerical information input by the external device as the first value.         For example, the control device for a human-driven vehicle for the fifth item of the patent application, wherein the memory section stores a plurality of numerical information, the external device can select one of the plurality of numerical information, and the memory section stores the memory through the external device. The selected numerical information is used as the aforementioned first value.         For example, the control device for a human-powered vehicle according to any one of claims 1 to 7, wherein the aforementioned first value is 50W.         For example, the control device for a human-powered vehicle according to any one of the claims 1 to 8, wherein the human-power driving force is a power calculated based on the rotational torque imparted to the crank and the rotational speed of the crank.         For example, the control device for a human-powered vehicle according to any one of claims 1 to 7, wherein the aforementioned first value is 10 Nm.         For example, the control device for a human-powered vehicle according to any one of the scope of patent application 1 to 7 or the scope of patent application 10, wherein the aforementioned human driving force is the rotational torque imparted to the crank.         A control device for a human-powered vehicle, comprising: a control unit that controls a motor that assists the human-powered vehicle to propel according to the human-power driving force; and a memory unit; the control unit is such that the output of the motor is less than a third value The motor is driven, and the storage unit variably stores the third value.         For example, the control device for a human-powered vehicle for a patent application No. 12 wherein the output of the aforementioned motor is power or rotational torque.         For example, the control device for a human-powered vehicle for which the scope of the patent application is item 12 or 13, wherein the aforementioned memory unit is configured to change the aforementioned third value according to an input signal of the aforementioned control unit from an external device.         For example, the control device for a human-powered vehicle of the scope of application for a patent, wherein the external device can input numerical information, and the memory section stores the numerical information input through the external device as the third value.         For example, the control device for a human-driven vehicle for the scope of application for patent No. 14, wherein the aforementioned memory section stores a plurality of numerical information, the aforementioned external device can select one of the aforementioned plurality of numerical information, and the aforementioned memory section memorizes the information through the aforementioned external device. The numerical information selected by the device is used as the aforementioned third value.         A control device for a human-powered vehicle includes a control unit that controls a motor that assists the human-powered driving of the vehicle according to the human-power driving force. The control unit drives the motor when the human-power driving force exceeds 50 W or 10 Nm.